The Structure of Multi-Body Dynamics Equations.

Abstract
Several alternative formulations for the dynamics of multi-body systems are described. These alternatives include momentum and velocity formulations with decoupling or coupling of constraints. The presentation of equations is facilitated by the introduction of a path matrix and a reference matrix which describe the topology of the n-body configuration. The final equations of motion are obtained from the equations of motion for a single body via the transformation operator formalism. The equations of motion presented herein are compared with ten n-body dynamics formulations in the spacecraft dynamics literature. (Author)

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